function p_d = prob_detect(quant_centers, v, phi_v, k)
global g_sigma_r;
global g_sigma_phi;
global g_period;

p_d = exp( ...
    -(abs(quant_centers) - (k - 1)*v*g_period).^2/(2*g_sigma_r^2) ...
    -(angle(quant_centers) - phi_v).^2/(2*g_sigma_phi) ...
    );
end